2 FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Standard includes. */
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74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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75 all the API functions to use the MPU wrappers. That should only be done when
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76 task.h is included from an application file. */
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77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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79 /* FreeRTOS includes. */
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80 #include "FreeRTOS.h"
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83 #include "StackMacros.h"
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85 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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86 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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87 header files above, but not in this file, in order to generate the correct
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88 privileged Vs unprivileged linkage and placement. */
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89 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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91 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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92 functions but without including stdio.h here. */
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93 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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94 /* At the bottom of this file are two optional functions that can be used
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95 to generate human readable text from the raw data generated by the
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96 uxTaskGetSystemState() function. Note the formatting functions are provided
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97 for convenience only, and are NOT considered part of the kernel. */
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99 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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101 /* Sanity check the configuration. */
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102 #if( configUSE_TICKLESS_IDLE != 0 )
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103 #if( INCLUDE_vTaskSuspend != 1 )
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104 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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105 #endif /* INCLUDE_vTaskSuspend */
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106 #endif /* configUSE_TICKLESS_IDLE */
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108 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION != 1 ) )
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109 #error configSUPPORT_STATIC_ALLOCATION must be set to 1 in FreeRTOSConfig.h when the MPU is used.
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113 * Defines the size, in words, of the stack allocated to the idle task.
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115 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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117 #if( configUSE_PREEMPTION == 0 )
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118 /* If the cooperative scheduler is being used then a yield should not be
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119 performed just because a higher priority task has been woken. */
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120 #define taskYIELD_IF_USING_PREEMPTION()
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122 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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125 /* Bits that can be set in tskTCB->ucStaticAllocationFlags to indicate that the
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126 stack and TCB were statically allocated respectively. When these are statically
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127 allocated they won't be freed if the task using the stack and TCB gets
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129 #define taskSTATICALLY_ALLOCATED_STACK ( ( uint8_t ) 0x01 )
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130 #define taskSTATICALLY_ALLOCATED_TCB ( ( uint8_t ) 0x02 )
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132 /* Values that can be assigned to the ucNotifyState member of the TCB. */
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133 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
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134 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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135 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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138 * Task control block. A task control block (TCB) is allocated for each task,
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139 * and stores task state information, including a pointer to the task's context
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140 * (the task's run time environment, including register values)
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142 typedef struct tskTaskControlBlock
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144 volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
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146 #if ( portUSING_MPU_WRAPPERS == 1 )
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147 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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150 ListItem_t xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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151 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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152 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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153 StackType_t *pxStack; /*< Points to the start of the stack. */
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154 char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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156 #if ( portSTACK_GROWTH > 0 )
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157 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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160 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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161 UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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164 #if ( configUSE_TRACE_FACILITY == 1 )
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165 UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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166 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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169 #if ( configUSE_MUTEXES == 1 )
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170 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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171 UBaseType_t uxMutexesHeld;
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174 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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175 TaskHookFunction_t pxTaskTag;
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178 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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179 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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182 #if( configGENERATE_RUN_TIME_STATS == 1 )
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183 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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186 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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187 /* Allocate a Newlib reent structure that is specific to this task.
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188 Note Newlib support has been included by popular demand, but is not
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189 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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190 responsible for resulting newlib operation. User must be familiar with
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191 newlib and must provide system-wide implementations of the necessary
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192 stubs. Be warned that (at the time of writing) the current newlib design
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193 implements a system-wide malloc() that must be provided with locks. */
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194 struct _reent xNewLib_reent;
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197 #if( configUSE_TASK_NOTIFICATIONS == 1 )
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198 volatile uint32_t ulNotifiedValue;
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199 volatile uint8_t ucNotifyState;
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202 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
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203 uint8_t ucStaticAllocationFlags; /* Set to pdTRUE if the stack is a statically allocated array, and pdFALSE if the stack is dynamically allocated. */
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208 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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209 below to enable the use of older kernel aware debuggers. */
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210 typedef tskTCB TCB_t;
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213 * Some kernel aware debuggers require the data the debugger needs access to to
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214 * be global, rather than file scope.
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216 #ifdef portREMOVE_STATIC_QUALIFIER
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220 /*lint -e956 A manual analysis and inspection has been used to determine which
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221 static variables must be declared volatile. */
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223 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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225 /* Lists for ready and blocked tasks. --------------------*/
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226 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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227 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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228 PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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229 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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230 PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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231 PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
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233 #if ( INCLUDE_vTaskDelete == 1 )
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235 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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236 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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240 #if ( INCLUDE_vTaskSuspend == 1 )
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242 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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246 /* Other file private variables. --------------------------------*/
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247 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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248 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
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249 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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250 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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251 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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252 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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253 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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254 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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255 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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256 PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
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258 /* Context switches are held pending while the scheduler is suspended. Also,
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259 interrupts must not manipulate the xGenericListItem of a TCB, or any of the
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260 lists the xGenericListItem can be referenced from, if the scheduler is suspended.
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261 If an interrupt needs to unblock a task while the scheduler is suspended then it
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262 moves the task's event list item into the xPendingReadyList, ready for the
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263 kernel to move the task from the pending ready list into the real ready list
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264 when the scheduler is unsuspended. The pending ready list itself can only be
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265 accessed from a critical section. */
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266 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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268 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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270 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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271 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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277 /* Debugging and trace facilities private variables and macros. ------------*/
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280 * The value used to fill the stack of a task when the task is created. This
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281 * is used purely for checking the high water mark for tasks.
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283 #define tskSTACK_FILL_BYTE ( 0xa5U )
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286 * Macros used by vListTask to indicate which state a task is in.
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288 #define tskBLOCKED_CHAR ( 'B' )
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289 #define tskREADY_CHAR ( 'R' )
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290 #define tskDELETED_CHAR ( 'D' )
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291 #define tskSUSPENDED_CHAR ( 'S' )
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293 /*-----------------------------------------------------------*/
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295 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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297 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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298 performed in a generic way that is not optimised to any particular
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299 microcontroller architecture. */
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301 /* uxTopReadyPriority holds the priority of the highest priority ready
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303 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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305 if( ( uxPriority ) > uxTopReadyPriority ) \
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307 uxTopReadyPriority = ( uxPriority ); \
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309 } /* taskRECORD_READY_PRIORITY */
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311 /*-----------------------------------------------------------*/
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313 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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315 /* Find the highest priority queue that contains ready tasks. */ \
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316 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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318 configASSERT( uxTopReadyPriority ); \
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319 --uxTopReadyPriority; \
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322 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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323 the same priority get an equal share of the processor time. */ \
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324 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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325 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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327 /*-----------------------------------------------------------*/
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329 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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330 they are only required when a port optimised method of task selection is
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332 #define taskRESET_READY_PRIORITY( uxPriority )
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333 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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335 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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337 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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338 performed in a way that is tailored to the particular microcontroller
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339 architecture being used. */
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341 /* A port optimised version is provided. Call the port defined macros. */
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342 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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344 /*-----------------------------------------------------------*/
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346 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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348 UBaseType_t uxTopPriority; \
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350 /* Find the highest priority list that contains ready tasks. */ \
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351 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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352 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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353 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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354 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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356 /*-----------------------------------------------------------*/
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358 /* A port optimised version is provided, call it only if the TCB being reset
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359 is being referenced from a ready list. If it is referenced from a delayed
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360 or suspended list then it won't be in a ready list. */
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361 #define taskRESET_READY_PRIORITY( uxPriority ) \
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363 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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365 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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369 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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371 /*-----------------------------------------------------------*/
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373 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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374 count overflows. */
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375 #define taskSWITCH_DELAYED_LISTS() \
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379 /* The delayed tasks list should be empty when the lists are switched. */ \
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380 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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382 pxTemp = pxDelayedTaskList; \
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383 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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384 pxOverflowDelayedTaskList = pxTemp; \
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385 xNumOfOverflows++; \
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386 prvResetNextTaskUnblockTime(); \
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389 /*-----------------------------------------------------------*/
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392 * Place the task represented by pxTCB into the appropriate ready list for
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393 * the task. It is inserted at the end of the list.
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395 #define prvAddTaskToReadyList( pxTCB ) \
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396 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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397 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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398 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) ); \
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399 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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400 /*-----------------------------------------------------------*/
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403 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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404 * where NULL is used to indicate that the handle of the currently executing
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405 * task should be used in place of the parameter. This macro simply checks to
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406 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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408 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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410 /* The item value of the event list item is normally used to hold the priority
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411 of the task to which it belongs (coded to allow it to be held in reverse
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412 priority order). However, it is occasionally borrowed for other purposes. It
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413 is important its value is not updated due to a task priority change while it is
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414 being used for another purpose. The following bit definition is used to inform
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415 the scheduler that the value should not be changed - in which case it is the
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416 responsibility of whichever module is using the value to ensure it gets set back
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417 to its original value when it is released. */
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418 #if( configUSE_16_BIT_TICKS == 1 )
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419 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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421 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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424 /* Callback function prototypes. --------------------------*/
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425 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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426 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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429 #if( configUSE_TICK_HOOK > 0 )
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430 extern void vApplicationTickHook( void );
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433 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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434 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint16_t *pusIdleTaskStackSize );
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437 /* File private functions. --------------------------------*/
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440 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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441 * into the TCB structure.
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443 static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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446 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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447 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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448 * is in any other state.
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450 #if ( INCLUDE_vTaskSuspend == 1 )
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451 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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452 #endif /* INCLUDE_vTaskSuspend */
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455 * Utility to ready all the lists used by the scheduler. This is called
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456 * automatically upon the creation of the first task.
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458 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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461 * The idle task, which as all tasks is implemented as a never ending loop.
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462 * The idle task is automatically created and added to the ready lists upon
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463 * creation of the first user task.
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465 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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466 * language extensions. The equivalent prototype for this function is:
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468 * void prvIdleTask( void *pvParameters );
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471 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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474 * Utility to free all memory allocated by the scheduler to hold a TCB,
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475 * including the stack pointed to by the TCB.
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477 * This does not free memory allocated by the task itself (i.e. memory
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478 * allocated by calls to pvPortMalloc from within the tasks application code).
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480 #if ( INCLUDE_vTaskDelete == 1 )
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482 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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487 * Used only by the idle task. This checks to see if anything has been placed
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488 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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489 * and its TCB deleted.
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491 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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494 * The currently executing task is entering the Blocked state. Add the task to
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495 * either the current or the overflow delayed task list.
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497 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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500 * Allocates memory from the heap for a TCB and associated stack. Checks the
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501 * allocation was successful.
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503 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer, TCB_t * const pucTCBBuffer ) PRIVILEGED_FUNCTION;
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506 * Fills an TaskStatus_t structure with information on each task that is
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507 * referenced from the pxList list (which may be a ready list, a delayed list,
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508 * a suspended list, etc.).
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510 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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511 * NORMAL APPLICATION CODE.
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513 #if ( configUSE_TRACE_FACILITY == 1 )
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515 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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520 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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521 * the task if it is found, or NULL if the task is not found.
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523 #if ( INCLUDE_xTaskGetTaskHandle == 1 )
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525 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] );
\r
530 * When a task is created, the stack of the task is filled with a known value.
\r
531 * This function determines the 'high water mark' of the task stack by
\r
532 * determining how much of the stack remains at the original preset value.
\r
534 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
536 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
\r
541 * Return the amount of time, in ticks, that will pass before the kernel will
\r
542 * next move a task from the Blocked state to the Running state.
\r
544 * This conditional compilation should use inequality to 0, not equality to 1.
\r
545 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
\r
546 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
\r
547 * set to a value other than 1.
\r
549 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
551 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
556 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
557 * will exit the Blocked state.
\r
559 static void prvResetNextTaskUnblockTime( void );
\r
561 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
564 * Helper function used to pad task names with spaces when printing out
\r
565 * human readable tables of task information.
\r
567 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName );
\r
570 /*-----------------------------------------------------------*/
\r
572 BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, StaticTask_t * const pxTaskBuffer, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
574 BaseType_t xReturn;
\r
576 StackType_t *pxTopOfStack;
\r
578 configASSERT( pxTaskCode );
\r
579 configASSERT( ( ( uxPriority & ( UBaseType_t ) ( ~portPRIVILEGE_BIT ) ) < ( UBaseType_t ) configMAX_PRIORITIES ) );
\r
581 /* Allocate the memory required by the TCB and stack for the new task,
\r
582 checking that the allocation was successful. */
\r
583 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer, ( TCB_t* ) pxTaskBuffer ); /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
\r
585 if( pxNewTCB != NULL )
\r
587 #if( portUSING_MPU_WRAPPERS == 1 )
\r
588 /* Should the task be created in privileged mode? */
\r
589 BaseType_t xRunPrivileged;
\r
590 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
592 xRunPrivileged = pdTRUE;
\r
596 xRunPrivileged = pdFALSE;
\r
598 uxPriority &= ~portPRIVILEGE_BIT;
\r
599 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
601 /* Calculate the top of stack address. This depends on whether the
\r
602 stack grows from high memory to low (as per the 80x86) or vice versa.
\r
603 portSTACK_GROWTH is used to make the result positive or negative as
\r
604 required by the port. */
\r
605 #if( portSTACK_GROWTH < 0 )
\r
607 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
608 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
\r
610 /* Check the alignment of the calculated top of stack is correct. */
\r
611 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
613 #else /* portSTACK_GROWTH */
\r
615 pxTopOfStack = pxNewTCB->pxStack;
\r
617 /* Check the alignment of the stack buffer is correct. */
\r
618 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
620 /* If we want to use stack checking on architectures that use
\r
621 a positive stack growth direction then we also need to store the
\r
622 other extreme of the stack space. */
\r
623 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
625 #endif /* portSTACK_GROWTH */
\r
627 /* Setup the newly allocated TCB with the initial state of the task. */
\r
628 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
630 /* Initialize the TCB stack to look as if the task was already running,
\r
631 but had been interrupted by the scheduler. The return address is set
\r
632 to the start of the task function. Once the stack has been initialised
\r
633 the top of stack variable is updated. */
\r
634 #if( portUSING_MPU_WRAPPERS == 1 )
\r
636 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
638 #else /* portUSING_MPU_WRAPPERS */
\r
640 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
642 #endif /* portUSING_MPU_WRAPPERS */
\r
644 if( ( void * ) pxCreatedTask != NULL )
\r
646 /* Pass the TCB out - in an anonymous way. The calling function/
\r
647 task can use this as a handle to delete the task later if
\r
649 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
653 mtCOVERAGE_TEST_MARKER();
\r
656 /* Ensure interrupts don't access the task lists while they are being
\r
658 taskENTER_CRITICAL();
\r
660 uxCurrentNumberOfTasks++;
\r
661 if( pxCurrentTCB == NULL )
\r
663 /* There are no other tasks, or all the other tasks are in
\r
664 the suspended state - make this the current task. */
\r
665 pxCurrentTCB = pxNewTCB;
\r
667 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
669 /* This is the first task to be created so do the preliminary
\r
670 initialisation required. We will not recover if this call
\r
671 fails, but we will report the failure. */
\r
672 prvInitialiseTaskLists();
\r
676 mtCOVERAGE_TEST_MARKER();
\r
681 /* If the scheduler is not already running, make this task the
\r
682 current task if it is the highest priority task to be created
\r
684 if( xSchedulerRunning == pdFALSE )
\r
686 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
688 pxCurrentTCB = pxNewTCB;
\r
692 mtCOVERAGE_TEST_MARKER();
\r
697 mtCOVERAGE_TEST_MARKER();
\r
703 #if ( configUSE_TRACE_FACILITY == 1 )
\r
705 /* Add a counter into the TCB for tracing only. */
\r
706 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
708 #endif /* configUSE_TRACE_FACILITY */
\r
709 traceTASK_CREATE( pxNewTCB );
\r
711 prvAddTaskToReadyList( pxNewTCB );
\r
714 portSETUP_TCB( pxNewTCB );
\r
716 taskEXIT_CRITICAL();
\r
720 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
721 traceTASK_CREATE_FAILED();
\r
724 if( xReturn == pdPASS )
\r
726 if( xSchedulerRunning != pdFALSE )
\r
728 /* If the created task is of a higher priority than the current task
\r
729 then it should run now. */
\r
730 if( pxCurrentTCB->uxPriority < uxPriority )
\r
732 taskYIELD_IF_USING_PREEMPTION();
\r
736 mtCOVERAGE_TEST_MARKER();
\r
741 mtCOVERAGE_TEST_MARKER();
\r
747 /*-----------------------------------------------------------*/
\r
749 #if ( INCLUDE_vTaskDelete == 1 )
\r
751 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
755 taskENTER_CRITICAL();
\r
757 /* If null is passed in here then it is the calling task that is
\r
759 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
761 /* Remove task from the ready list. */
\r
762 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
764 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
768 mtCOVERAGE_TEST_MARKER();
\r
771 /* Is the task waiting on an event also? */
\r
772 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
774 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
778 mtCOVERAGE_TEST_MARKER();
\r
781 if( pxTCB == pxCurrentTCB )
\r
783 /* A task is deleting itself. This cannot complete within the
\r
784 task itself, as a context switch to another task is required.
\r
785 Place the task in the termination list. The idle task will
\r
786 check the termination list and free up any memory allocated by
\r
787 the scheduler for the TCB and stack of the deleted task. */
\r
788 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
790 /* Increment the ucTasksDeleted variable so the idle task knows
\r
791 there is a task that has been deleted and that it should therefore
\r
792 check the xTasksWaitingTermination list. */
\r
793 ++uxDeletedTasksWaitingCleanUp;
\r
797 --uxCurrentNumberOfTasks;
\r
798 prvDeleteTCB( pxTCB );
\r
801 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
802 detect that the task lists need re-generating. */
\r
805 traceTASK_DELETE( pxTCB );
\r
807 taskEXIT_CRITICAL();
\r
809 /* Force a reschedule if it is the currently running task that has just
\r
811 if( xSchedulerRunning != pdFALSE )
\r
813 if( pxTCB == pxCurrentTCB )
\r
815 configASSERT( uxSchedulerSuspended == 0 );
\r
817 /* The pre-delete hook is primarily for the Windows simulator,
\r
818 in which Windows specific clean up operations are performed,
\r
819 after which it is not possible to yield away from this task -
\r
820 hence xYieldPending is used to latch that a context switch is
\r
822 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
823 portYIELD_WITHIN_API();
\r
827 /* Reset the next expected unblock time in case it referred to
\r
828 the task that has just been deleted. */
\r
829 taskENTER_CRITICAL();
\r
831 prvResetNextTaskUnblockTime();
\r
833 taskEXIT_CRITICAL();
\r
838 #endif /* INCLUDE_vTaskDelete */
\r
839 /*-----------------------------------------------------------*/
\r
841 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
843 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
845 TickType_t xTimeToWake;
\r
846 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
848 configASSERT( pxPreviousWakeTime );
\r
849 configASSERT( ( xTimeIncrement > 0U ) );
\r
850 configASSERT( uxSchedulerSuspended == 0 );
\r
854 /* Minor optimisation. The tick count cannot change in this
\r
856 const TickType_t xConstTickCount = xTickCount;
\r
858 /* Generate the tick time at which the task wants to wake. */
\r
859 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
861 if( xConstTickCount < *pxPreviousWakeTime )
\r
863 /* The tick count has overflowed since this function was
\r
864 lasted called. In this case the only time we should ever
\r
865 actually delay is if the wake time has also overflowed,
\r
866 and the wake time is greater than the tick time. When this
\r
867 is the case it is as if neither time had overflowed. */
\r
868 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
870 xShouldDelay = pdTRUE;
\r
874 mtCOVERAGE_TEST_MARKER();
\r
879 /* The tick time has not overflowed. In this case we will
\r
880 delay if either the wake time has overflowed, and/or the
\r
881 tick time is less than the wake time. */
\r
882 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
884 xShouldDelay = pdTRUE;
\r
888 mtCOVERAGE_TEST_MARKER();
\r
892 /* Update the wake time ready for the next call. */
\r
893 *pxPreviousWakeTime = xTimeToWake;
\r
895 if( xShouldDelay != pdFALSE )
\r
897 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
899 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
900 the time to wake, so subtract the current tick count. */
\r
901 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
905 mtCOVERAGE_TEST_MARKER();
\r
908 xAlreadyYielded = xTaskResumeAll();
\r
910 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
911 have put ourselves to sleep. */
\r
912 if( xAlreadyYielded == pdFALSE )
\r
914 portYIELD_WITHIN_API();
\r
918 mtCOVERAGE_TEST_MARKER();
\r
922 #endif /* INCLUDE_vTaskDelayUntil */
\r
923 /*-----------------------------------------------------------*/
\r
925 #if ( INCLUDE_vTaskDelay == 1 )
\r
927 void vTaskDelay( const TickType_t xTicksToDelay )
\r
929 BaseType_t xAlreadyYielded = pdFALSE;
\r
931 /* A delay time of zero just forces a reschedule. */
\r
932 if( xTicksToDelay > ( TickType_t ) 0U )
\r
934 configASSERT( uxSchedulerSuspended == 0 );
\r
939 /* A task that is removed from the event list while the
\r
940 scheduler is suspended will not get placed in the ready
\r
941 list or removed from the blocked list until the scheduler
\r
944 This task cannot be in an event list as it is the currently
\r
946 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
948 xAlreadyYielded = xTaskResumeAll();
\r
952 mtCOVERAGE_TEST_MARKER();
\r
955 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
956 have put ourselves to sleep. */
\r
957 if( xAlreadyYielded == pdFALSE )
\r
959 portYIELD_WITHIN_API();
\r
963 mtCOVERAGE_TEST_MARKER();
\r
967 #endif /* INCLUDE_vTaskDelay */
\r
968 /*-----------------------------------------------------------*/
\r
970 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )
\r
972 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
974 eTaskState eReturn;
\r
975 List_t *pxStateList;
\r
976 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
978 configASSERT( pxTCB );
\r
980 if( pxTCB == pxCurrentTCB )
\r
982 /* The task calling this function is querying its own state. */
\r
983 eReturn = eRunning;
\r
987 taskENTER_CRITICAL();
\r
989 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
991 taskEXIT_CRITICAL();
\r
993 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
995 /* The task being queried is referenced from one of the Blocked
\r
997 eReturn = eBlocked;
\r
1000 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1001 else if( pxStateList == &xSuspendedTaskList )
\r
1003 /* The task being queried is referenced from the suspended
\r
1004 list. Is it genuinely suspended or is it block
\r
1006 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1008 eReturn = eSuspended;
\r
1012 eReturn = eBlocked;
\r
1017 #if ( INCLUDE_vTaskDelete == 1 )
\r
1018 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1020 /* The task being queried is referenced from the deleted
\r
1021 tasks list, or it is not referenced from any lists at
\r
1023 eReturn = eDeleted;
\r
1027 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1029 /* If the task is not in any other state, it must be in the
\r
1030 Ready (including pending ready) state. */
\r
1036 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1038 #endif /* INCLUDE_eTaskGetState */
\r
1039 /*-----------------------------------------------------------*/
\r
1041 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1043 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1046 UBaseType_t uxReturn;
\r
1048 taskENTER_CRITICAL();
\r
1050 /* If null is passed in here then it is the priority of the that
\r
1051 called uxTaskPriorityGet() that is being queried. */
\r
1052 pxTCB = prvGetTCBFromHandle( xTask );
\r
1053 uxReturn = pxTCB->uxPriority;
\r
1055 taskEXIT_CRITICAL();
\r
1060 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1061 /*-----------------------------------------------------------*/
\r
1063 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1065 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
\r
1068 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1070 /* RTOS ports that support interrupt nesting have the concept of a
\r
1071 maximum system call (or maximum API call) interrupt priority.
\r
1072 Interrupts that are above the maximum system call priority are keep
\r
1073 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1074 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1075 is defined in FreeRTOSConfig.h then
\r
1076 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1077 failure if a FreeRTOS API function is called from an interrupt that has
\r
1078 been assigned a priority above the configured maximum system call
\r
1079 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1080 from interrupts that have been assigned a priority at or (logically)
\r
1081 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1082 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1083 simple as possible. More information (albeit Cortex-M specific) is
\r
1084 provided on the following link:
\r
1085 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1086 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1088 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1090 /* If null is passed in here then it is the priority of the calling
\r
1091 task that is being queried. */
\r
1092 pxTCB = prvGetTCBFromHandle( xTask );
\r
1093 uxReturn = pxTCB->uxPriority;
\r
1095 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1100 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1101 /*-----------------------------------------------------------*/
\r
1103 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1105 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1108 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1109 BaseType_t xYieldRequired = pdFALSE;
\r
1111 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1113 /* Ensure the new priority is valid. */
\r
1114 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1116 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1120 mtCOVERAGE_TEST_MARKER();
\r
1123 taskENTER_CRITICAL();
\r
1125 /* If null is passed in here then it is the priority of the calling
\r
1126 task that is being changed. */
\r
1127 pxTCB = prvGetTCBFromHandle( xTask );
\r
1129 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1131 #if ( configUSE_MUTEXES == 1 )
\r
1133 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1137 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1141 if( uxCurrentBasePriority != uxNewPriority )
\r
1143 /* The priority change may have readied a task of higher
\r
1144 priority than the calling task. */
\r
1145 if( uxNewPriority > uxCurrentBasePriority )
\r
1147 if( pxTCB != pxCurrentTCB )
\r
1149 /* The priority of a task other than the currently
\r
1150 running task is being raised. Is the priority being
\r
1151 raised above that of the running task? */
\r
1152 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1154 xYieldRequired = pdTRUE;
\r
1158 mtCOVERAGE_TEST_MARKER();
\r
1163 /* The priority of the running task is being raised,
\r
1164 but the running task must already be the highest
\r
1165 priority task able to run so no yield is required. */
\r
1168 else if( pxTCB == pxCurrentTCB )
\r
1170 /* Setting the priority of the running task down means
\r
1171 there may now be another task of higher priority that
\r
1172 is ready to execute. */
\r
1173 xYieldRequired = pdTRUE;
\r
1177 /* Setting the priority of any other task down does not
\r
1178 require a yield as the running task must be above the
\r
1179 new priority of the task being modified. */
\r
1182 /* Remember the ready list the task might be referenced from
\r
1183 before its uxPriority member is changed so the
\r
1184 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1185 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1187 #if ( configUSE_MUTEXES == 1 )
\r
1189 /* Only change the priority being used if the task is not
\r
1190 currently using an inherited priority. */
\r
1191 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1193 pxTCB->uxPriority = uxNewPriority;
\r
1197 mtCOVERAGE_TEST_MARKER();
\r
1200 /* The base priority gets set whatever. */
\r
1201 pxTCB->uxBasePriority = uxNewPriority;
\r
1205 pxTCB->uxPriority = uxNewPriority;
\r
1209 /* Only reset the event list item value if the value is not
\r
1210 being used for anything else. */
\r
1211 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1213 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1217 mtCOVERAGE_TEST_MARKER();
\r
1220 /* If the task is in the blocked or suspended list we need do
\r
1221 nothing more than change it's priority variable. However, if
\r
1222 the task is in a ready list it needs to be removed and placed
\r
1223 in the list appropriate to its new priority. */
\r
1224 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1226 /* The task is currently in its ready list - remove before adding
\r
1227 it to it's new ready list. As we are in a critical section we
\r
1228 can do this even if the scheduler is suspended. */
\r
1229 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1231 /* It is known that the task is in its ready list so
\r
1232 there is no need to check again and the port level
\r
1233 reset macro can be called directly. */
\r
1234 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1238 mtCOVERAGE_TEST_MARKER();
\r
1240 prvAddTaskToReadyList( pxTCB );
\r
1244 mtCOVERAGE_TEST_MARKER();
\r
1247 if( xYieldRequired == pdTRUE )
\r
1249 taskYIELD_IF_USING_PREEMPTION();
\r
1253 mtCOVERAGE_TEST_MARKER();
\r
1256 /* Remove compiler warning about unused variables when the port
\r
1257 optimised task selection is not being used. */
\r
1258 ( void ) uxPriorityUsedOnEntry;
\r
1261 taskEXIT_CRITICAL();
\r
1264 #endif /* INCLUDE_vTaskPrioritySet */
\r
1265 /*-----------------------------------------------------------*/
\r
1267 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1269 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1273 taskENTER_CRITICAL();
\r
1275 /* If null is passed in here then it is the running task that is
\r
1276 being suspended. */
\r
1277 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1279 traceTASK_SUSPEND( pxTCB );
\r
1281 /* Remove task from the ready/delayed list and place in the
\r
1282 suspended list. */
\r
1283 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1285 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1289 mtCOVERAGE_TEST_MARKER();
\r
1292 /* Is the task waiting on an event also? */
\r
1293 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1295 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1299 mtCOVERAGE_TEST_MARKER();
\r
1302 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1304 taskEXIT_CRITICAL();
\r
1306 if( xSchedulerRunning != pdFALSE )
\r
1308 /* Reset the next expected unblock time in case it referred to the
\r
1309 task that is now in the Suspended state. */
\r
1310 taskENTER_CRITICAL();
\r
1312 prvResetNextTaskUnblockTime();
\r
1314 taskEXIT_CRITICAL();
\r
1318 mtCOVERAGE_TEST_MARKER();
\r
1321 if( pxTCB == pxCurrentTCB )
\r
1323 if( xSchedulerRunning != pdFALSE )
\r
1325 /* The current task has just been suspended. */
\r
1326 configASSERT( uxSchedulerSuspended == 0 );
\r
1327 portYIELD_WITHIN_API();
\r
1331 /* The scheduler is not running, but the task that was pointed
\r
1332 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1333 must be adjusted to point to a different task. */
\r
1334 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1336 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1337 NULL so when the next task is created pxCurrentTCB will
\r
1338 be set to point to it no matter what its relative priority
\r
1340 pxCurrentTCB = NULL;
\r
1344 vTaskSwitchContext();
\r
1350 mtCOVERAGE_TEST_MARKER();
\r
1354 #endif /* INCLUDE_vTaskSuspend */
\r
1355 /*-----------------------------------------------------------*/
\r
1357 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1359 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1361 BaseType_t xReturn = pdFALSE;
\r
1362 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1364 /* Accesses xPendingReadyList so must be called from a critical
\r
1367 /* It does not make sense to check if the calling task is suspended. */
\r
1368 configASSERT( xTask );
\r
1370 /* Is the task being resumed actually in the suspended list? */
\r
1371 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1373 /* Has the task already been resumed from within an ISR? */
\r
1374 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1376 /* Is it in the suspended list because it is in the Suspended
\r
1377 state, or because is is blocked with no timeout? */
\r
1378 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1384 mtCOVERAGE_TEST_MARKER();
\r
1389 mtCOVERAGE_TEST_MARKER();
\r
1394 mtCOVERAGE_TEST_MARKER();
\r
1398 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1400 #endif /* INCLUDE_vTaskSuspend */
\r
1401 /*-----------------------------------------------------------*/
\r
1403 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1405 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1407 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1409 /* It does not make sense to resume the calling task. */
\r
1410 configASSERT( xTaskToResume );
\r
1412 /* The parameter cannot be NULL as it is impossible to resume the
\r
1413 currently executing task. */
\r
1414 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1416 taskENTER_CRITICAL();
\r
1418 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1420 traceTASK_RESUME( pxTCB );
\r
1422 /* As we are in a critical section we can access the ready
\r
1423 lists even if the scheduler is suspended. */
\r
1424 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1425 prvAddTaskToReadyList( pxTCB );
\r
1427 /* We may have just resumed a higher priority task. */
\r
1428 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1430 /* This yield may not cause the task just resumed to run,
\r
1431 but will leave the lists in the correct state for the
\r
1433 taskYIELD_IF_USING_PREEMPTION();
\r
1437 mtCOVERAGE_TEST_MARKER();
\r
1442 mtCOVERAGE_TEST_MARKER();
\r
1445 taskEXIT_CRITICAL();
\r
1449 mtCOVERAGE_TEST_MARKER();
\r
1453 #endif /* INCLUDE_vTaskSuspend */
\r
1455 /*-----------------------------------------------------------*/
\r
1457 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1459 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1461 BaseType_t xYieldRequired = pdFALSE;
\r
1462 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1463 UBaseType_t uxSavedInterruptStatus;
\r
1465 configASSERT( xTaskToResume );
\r
1467 /* RTOS ports that support interrupt nesting have the concept of a
\r
1468 maximum system call (or maximum API call) interrupt priority.
\r
1469 Interrupts that are above the maximum system call priority are keep
\r
1470 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1471 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1472 is defined in FreeRTOSConfig.h then
\r
1473 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1474 failure if a FreeRTOS API function is called from an interrupt that has
\r
1475 been assigned a priority above the configured maximum system call
\r
1476 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1477 from interrupts that have been assigned a priority at or (logically)
\r
1478 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1479 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1480 simple as possible. More information (albeit Cortex-M specific) is
\r
1481 provided on the following link:
\r
1482 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1483 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1485 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1487 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1489 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1491 /* Check the ready lists can be accessed. */
\r
1492 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1494 /* Ready lists can be accessed so move the task from the
\r
1495 suspended list to the ready list directly. */
\r
1496 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1498 xYieldRequired = pdTRUE;
\r
1502 mtCOVERAGE_TEST_MARKER();
\r
1505 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1506 prvAddTaskToReadyList( pxTCB );
\r
1510 /* The delayed or ready lists cannot be accessed so the task
\r
1511 is held in the pending ready list until the scheduler is
\r
1513 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1518 mtCOVERAGE_TEST_MARKER();
\r
1521 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1523 return xYieldRequired;
\r
1526 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1527 /*-----------------------------------------------------------*/
\r
1529 void vTaskStartScheduler( void )
\r
1531 BaseType_t xReturn;
\r
1532 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1533 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1534 uint16_t usIdleTaskStackSize = tskIDLE_STACK_SIZE;
\r
1536 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1538 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &usIdleTaskStackSize );
\r
1540 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
1542 /* Add the idle task at the lowest priority. */
\r
1543 xReturn = xTaskGenericCreate( prvIdleTask, "IDLE", usIdleTaskStackSize, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle, pxIdleTaskStackBuffer, pxIdleTaskTCBBuffer, NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1545 #if ( configUSE_TIMERS == 1 )
\r
1547 if( xReturn == pdPASS )
\r
1549 xReturn = xTimerCreateTimerTask();
\r
1553 mtCOVERAGE_TEST_MARKER();
\r
1556 #endif /* configUSE_TIMERS */
\r
1558 if( xReturn == pdPASS )
\r
1560 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1561 before or during the call to xPortStartScheduler(). The stacks of
\r
1562 the created tasks contain a status word with interrupts switched on
\r
1563 so interrupts will automatically get re-enabled when the first task
\r
1565 portDISABLE_INTERRUPTS();
\r
1567 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1569 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1570 structure specific to the task that will run first. */
\r
1571 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1573 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1575 xNextTaskUnblockTime = portMAX_DELAY;
\r
1576 xSchedulerRunning = pdTRUE;
\r
1577 xTickCount = ( TickType_t ) 0U;
\r
1579 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1580 macro must be defined to configure the timer/counter used to generate
\r
1581 the run time counter time base. */
\r
1582 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1584 /* Setting up the timer tick is hardware specific and thus in the
\r
1585 portable interface. */
\r
1586 if( xPortStartScheduler() != pdFALSE )
\r
1588 /* Should not reach here as if the scheduler is running the
\r
1589 function will not return. */
\r
1593 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1598 /* This line will only be reached if the kernel could not be started,
\r
1599 because there was not enough FreeRTOS heap to create the idle task
\r
1600 or the timer task. */
\r
1601 configASSERT( xReturn );
\r
1604 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
1605 meaning xIdleTaskHandle is not used anywhere else. */
\r
1606 ( void ) xIdleTaskHandle;
\r
1608 /*-----------------------------------------------------------*/
\r
1610 void vTaskEndScheduler( void )
\r
1612 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1613 routine so the original ISRs can be restored if necessary. The port
\r
1614 layer must ensure interrupts enable bit is left in the correct state. */
\r
1615 portDISABLE_INTERRUPTS();
\r
1616 xSchedulerRunning = pdFALSE;
\r
1617 vPortEndScheduler();
\r
1619 /*----------------------------------------------------------*/
\r
1621 void vTaskSuspendAll( void )
\r
1623 /* A critical section is not required as the variable is of type
\r
1624 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1625 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1626 http://goo.gl/wu4acr */
\r
1627 ++uxSchedulerSuspended;
\r
1629 /*----------------------------------------------------------*/
\r
1631 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1633 static TickType_t prvGetExpectedIdleTime( void )
\r
1635 TickType_t xReturn;
\r
1636 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
1638 /* uxHigherPriorityReadyTasks takes care of the case where
\r
1639 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
1640 task that are in the Ready state, even though the idle task is
\r
1642 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
1644 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
1646 uxHigherPriorityReadyTasks = pdTRUE;
\r
1651 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
1653 /* When port optimised task selection is used the uxTopReadyPriority
\r
1654 variable is used as a bit map. If bits other than the least
\r
1655 significant bit are set then there are tasks that have a priority
\r
1656 above the idle priority that are in the Ready state. This takes
\r
1657 care of the case where the co-operative scheduler is in use. */
\r
1658 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
1660 uxHigherPriorityReadyTasks = pdTRUE;
\r
1665 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1669 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1671 /* There are other idle priority tasks in the ready state. If
\r
1672 time slicing is used then the very next tick interrupt must be
\r
1676 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
1678 /* There are tasks in the Ready state that have a priority above the
\r
1679 idle priority. This path can only be reached if
\r
1680 configUSE_PREEMPTION is 0. */
\r
1685 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1691 #endif /* configUSE_TICKLESS_IDLE */
\r
1692 /*----------------------------------------------------------*/
\r
1694 BaseType_t xTaskResumeAll( void )
\r
1696 TCB_t *pxTCB = NULL;
\r
1697 BaseType_t xAlreadyYielded = pdFALSE;
\r
1699 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1700 previous call to vTaskSuspendAll(). */
\r
1701 configASSERT( uxSchedulerSuspended );
\r
1703 /* It is possible that an ISR caused a task to be removed from an event
\r
1704 list while the scheduler was suspended. If this was the case then the
\r
1705 removed task will have been added to the xPendingReadyList. Once the
\r
1706 scheduler has been resumed it is safe to move all the pending ready
\r
1707 tasks from this list into their appropriate ready list. */
\r
1708 taskENTER_CRITICAL();
\r
1710 --uxSchedulerSuspended;
\r
1712 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1714 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1716 /* Move any readied tasks from the pending list into the
\r
1717 appropriate ready list. */
\r
1718 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1720 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1721 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1722 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1723 prvAddTaskToReadyList( pxTCB );
\r
1725 /* If the moved task has a priority higher than the current
\r
1726 task then a yield must be performed. */
\r
1727 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1729 xYieldPending = pdTRUE;
\r
1733 mtCOVERAGE_TEST_MARKER();
\r
1737 if( pxTCB != NULL )
\r
1739 /* A task was unblocked while the scheduler was suspended,
\r
1740 which may have prevented the next unblock time from being
\r
1741 re-calculated, in which case re-calculate it now. Mainly
\r
1742 important for low power tickless implementations, where
\r
1743 this can prevent an unnecessary exit from low power
\r
1745 prvResetNextTaskUnblockTime();
\r
1748 /* If any ticks occurred while the scheduler was suspended then
\r
1749 they should be processed now. This ensures the tick count does
\r
1750 not slip, and that any delayed tasks are resumed at the correct
\r
1752 if( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1754 while( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1756 if( xTaskIncrementTick() != pdFALSE )
\r
1758 xYieldPending = pdTRUE;
\r
1762 mtCOVERAGE_TEST_MARKER();
\r
1769 mtCOVERAGE_TEST_MARKER();
\r
1772 if( xYieldPending == pdTRUE )
\r
1774 #if( configUSE_PREEMPTION != 0 )
\r
1776 xAlreadyYielded = pdTRUE;
\r
1779 taskYIELD_IF_USING_PREEMPTION();
\r
1783 mtCOVERAGE_TEST_MARKER();
\r
1789 mtCOVERAGE_TEST_MARKER();
\r
1792 taskEXIT_CRITICAL();
\r
1794 return xAlreadyYielded;
\r
1796 /*-----------------------------------------------------------*/
\r
1798 TickType_t xTaskGetTickCount( void )
\r
1800 TickType_t xTicks;
\r
1802 /* Critical section required if running on a 16 bit processor. */
\r
1803 portTICK_TYPE_ENTER_CRITICAL();
\r
1805 xTicks = xTickCount;
\r
1807 portTICK_TYPE_EXIT_CRITICAL();
\r
1811 /*-----------------------------------------------------------*/
\r
1813 TickType_t xTaskGetTickCountFromISR( void )
\r
1815 TickType_t xReturn;
\r
1816 UBaseType_t uxSavedInterruptStatus;
\r
1818 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1819 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1820 above the maximum system call priority are kept permanently enabled, even
\r
1821 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1822 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1823 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1824 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1825 assigned a priority above the configured maximum system call priority.
\r
1826 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1827 that have been assigned a priority at or (logically) below the maximum
\r
1828 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1829 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1830 More information (albeit Cortex-M specific) is provided on the following
\r
1831 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1832 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1834 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
1836 xReturn = xTickCount;
\r
1838 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1842 /*-----------------------------------------------------------*/
\r
1844 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
1846 /* A critical section is not required because the variables are of type
\r
1848 return uxCurrentNumberOfTasks;
\r
1850 /*-----------------------------------------------------------*/
\r
1852 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1854 char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
1858 /* If null is passed in here then the name of the calling task is being
\r
1860 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1861 configASSERT( pxTCB );
\r
1862 return &( pxTCB->pcTaskName[ 0 ] );
\r
1865 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1866 /*-----------------------------------------------------------*/
\r
1868 #if ( INCLUDE_xTaskGetTaskHandle == 1 )
\r
1870 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
1872 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
1876 /* This function is called with the scheduler suspended. */
\r
1878 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
1880 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
1884 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
1886 /* Check each character in the name looking for a match or
\r
1888 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
1890 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
1892 if( cNextChar != pcNameToQuery[ x ] )
\r
1894 /* Characters didn't match. */
\r
1897 else if( cNextChar == 0x00 )
\r
1899 /* Both strings terminated, a match must have been
\r
1901 pxReturn = pxNextTCB;
\r
1906 mtCOVERAGE_TEST_MARKER();
\r
1910 if( pxReturn != NULL )
\r
1912 /* The handle has been found. */
\r
1916 } while( pxNextTCB != pxFirstTCB );
\r
1920 mtCOVERAGE_TEST_MARKER();
\r
1926 #endif /* INCLUDE_xTaskGetTaskHandle */
\r
1927 /*-----------------------------------------------------------*/
\r
1929 #if ( INCLUDE_xTaskGetTaskHandle == 1 )
\r
1931 TaskHandle_t xTaskGetTaskHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
1933 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
1936 vTaskSuspendAll();
\r
1938 /* Search the ready lists. */
\r
1942 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
1944 if( pxTCB != NULL )
\r
1946 /* Found the handle. */
\r
1950 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1952 /* Search the delayed lists. */
\r
1953 if( pxTCB == NULL )
\r
1955 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
1958 if( pxTCB == NULL )
\r
1960 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
1963 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1965 if( pxTCB == NULL )
\r
1967 /* Search the suspended list. */
\r
1968 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
1973 #if( INCLUDE_vTaskDelete == 1 )
\r
1975 if( pxTCB == NULL )
\r
1977 /* Search the deleted list. */
\r
1978 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
1983 ( void ) xTaskResumeAll();
\r
1985 return ( TaskHandle_t ) pxTCB;
\r
1988 #endif /* INCLUDE_xTaskGetTaskHandle */
\r
1989 /*-----------------------------------------------------------*/
\r
1991 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1993 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
1995 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1997 vTaskSuspendAll();
\r
1999 /* Is there a space in the array for each task in the system? */
\r
2000 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2002 /* Fill in an TaskStatus_t structure with information on each
\r
2003 task in the Ready state. */
\r
2007 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2009 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2011 /* Fill in an TaskStatus_t structure with information on each
\r
2012 task in the Blocked state. */
\r
2013 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2014 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2016 #if( INCLUDE_vTaskDelete == 1 )
\r
2018 /* Fill in an TaskStatus_t structure with information on
\r
2019 each task that has been deleted but not yet cleaned up. */
\r
2020 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2024 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2026 /* Fill in an TaskStatus_t structure with information on
\r
2027 each task in the Suspended state. */
\r
2028 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2032 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2034 if( pulTotalRunTime != NULL )
\r
2036 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2037 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2039 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2045 if( pulTotalRunTime != NULL )
\r
2047 *pulTotalRunTime = 0;
\r
2054 mtCOVERAGE_TEST_MARKER();
\r
2057 ( void ) xTaskResumeAll();
\r
2062 #endif /* configUSE_TRACE_FACILITY */
\r
2063 /*----------------------------------------------------------*/
\r
2065 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2067 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2069 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2070 started, then xIdleTaskHandle will be NULL. */
\r
2071 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2072 return xIdleTaskHandle;
\r
2075 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2076 /*----------------------------------------------------------*/
\r
2078 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2079 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2080 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2082 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2084 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2086 /* Correct the tick count value after a period during which the tick
\r
2087 was suppressed. Note this does *not* call the tick hook function for
\r
2088 each stepped tick. */
\r
2089 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2090 xTickCount += xTicksToJump;
\r
2091 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2094 #endif /* configUSE_TICKLESS_IDLE */
\r
2095 /*----------------------------------------------------------*/
\r
2097 BaseType_t xTaskIncrementTick( void )
\r
2100 TickType_t xItemValue;
\r
2101 BaseType_t xSwitchRequired = pdFALSE;
\r
2103 /* Called by the portable layer each time a tick interrupt occurs.
\r
2104 Increments the tick then checks to see if the new tick value will cause any
\r
2105 tasks to be unblocked. */
\r
2106 traceTASK_INCREMENT_TICK( xTickCount );
\r
2107 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2109 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2110 delayed lists if it wraps to 0. */
\r
2114 /* Minor optimisation. The tick count cannot change in this
\r
2116 const TickType_t xConstTickCount = xTickCount;
\r
2118 if( xConstTickCount == ( TickType_t ) 0U )
\r
2120 taskSWITCH_DELAYED_LISTS();
\r
2124 mtCOVERAGE_TEST_MARKER();
\r
2127 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2128 the queue in the order of their wake time - meaning once one task
\r
2129 has been found whose block time has not expired there is no need to
\r
2130 look any further down the list. */
\r
2131 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2135 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2137 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2138 to the maximum possible value so it is extremely
\r
2140 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2141 next time through. */
\r
2142 xNextTaskUnblockTime = portMAX_DELAY;
\r
2147 /* The delayed list is not empty, get the value of the
\r
2148 item at the head of the delayed list. This is the time
\r
2149 at which the task at the head of the delayed list must
\r
2150 be removed from the Blocked state. */
\r
2151 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
2152 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
2154 if( xConstTickCount < xItemValue )
\r
2156 /* It is not time to unblock this item yet, but the
\r
2157 item value is the time at which the task at the head
\r
2158 of the blocked list must be removed from the Blocked
\r
2159 state - so record the item value in
\r
2160 xNextTaskUnblockTime. */
\r
2161 xNextTaskUnblockTime = xItemValue;
\r
2166 mtCOVERAGE_TEST_MARKER();
\r
2169 /* It is time to remove the item from the Blocked state. */
\r
2170 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2172 /* Is the task waiting on an event also? If so remove
\r
2173 it from the event list. */
\r
2174 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2176 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2180 mtCOVERAGE_TEST_MARKER();
\r
2183 /* Place the unblocked task into the appropriate ready
\r
2185 prvAddTaskToReadyList( pxTCB );
\r
2187 /* A task being unblocked cannot cause an immediate
\r
2188 context switch if preemption is turned off. */
\r
2189 #if ( configUSE_PREEMPTION == 1 )
\r
2191 /* Preemption is on, but a context switch should
\r
2192 only be performed if the unblocked task has a
\r
2193 priority that is equal to or higher than the
\r
2194 currently executing task. */
\r
2195 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2197 xSwitchRequired = pdTRUE;
\r
2201 mtCOVERAGE_TEST_MARKER();
\r
2204 #endif /* configUSE_PREEMPTION */
\r
2210 /* Tasks of equal priority to the currently running task will share
\r
2211 processing time (time slice) if preemption is on, and the application
\r
2212 writer has not explicitly turned time slicing off. */
\r
2213 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2215 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2217 xSwitchRequired = pdTRUE;
\r
2221 mtCOVERAGE_TEST_MARKER();
\r
2224 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2226 #if ( configUSE_TICK_HOOK == 1 )
\r
2228 /* Guard against the tick hook being called when the pended tick
\r
2229 count is being unwound (when the scheduler is being unlocked). */
\r
2230 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2232 vApplicationTickHook();
\r
2236 mtCOVERAGE_TEST_MARKER();
\r
2239 #endif /* configUSE_TICK_HOOK */
\r
2245 /* The tick hook gets called at regular intervals, even if the
\r
2246 scheduler is locked. */
\r
2247 #if ( configUSE_TICK_HOOK == 1 )
\r
2249 vApplicationTickHook();
\r
2254 #if ( configUSE_PREEMPTION == 1 )
\r
2256 if( xYieldPending != pdFALSE )
\r
2258 xSwitchRequired = pdTRUE;
\r
2262 mtCOVERAGE_TEST_MARKER();
\r
2265 #endif /* configUSE_PREEMPTION */
\r
2267 return xSwitchRequired;
\r
2269 /*-----------------------------------------------------------*/
\r
2271 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2273 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2277 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2279 if( xTask == NULL )
\r
2281 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2285 xTCB = ( TCB_t * ) xTask;
\r
2288 /* Save the hook function in the TCB. A critical section is required as
\r
2289 the value can be accessed from an interrupt. */
\r
2290 taskENTER_CRITICAL();
\r
2291 xTCB->pxTaskTag = pxHookFunction;
\r
2292 taskEXIT_CRITICAL();
\r
2295 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2296 /*-----------------------------------------------------------*/
\r
2298 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2300 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2303 TaskHookFunction_t xReturn;
\r
2305 /* If xTask is NULL then we are setting our own task hook. */
\r
2306 if( xTask == NULL )
\r
2308 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2312 xTCB = ( TCB_t * ) xTask;
\r
2315 /* Save the hook function in the TCB. A critical section is required as
\r
2316 the value can be accessed from an interrupt. */
\r
2317 taskENTER_CRITICAL();
\r
2319 xReturn = xTCB->pxTaskTag;
\r
2321 taskEXIT_CRITICAL();
\r
2326 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2327 /*-----------------------------------------------------------*/
\r
2329 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2331 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2334 BaseType_t xReturn;
\r
2336 /* If xTask is NULL then we are calling our own task hook. */
\r
2337 if( xTask == NULL )
\r
2339 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2343 xTCB = ( TCB_t * ) xTask;
\r
2346 if( xTCB->pxTaskTag != NULL )
\r
2348 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2358 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2359 /*-----------------------------------------------------------*/
\r
2361 void vTaskSwitchContext( void )
\r
2363 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2365 /* The scheduler is currently suspended - do not allow a context
\r
2367 xYieldPending = pdTRUE;
\r
2371 xYieldPending = pdFALSE;
\r
2372 traceTASK_SWITCHED_OUT();
\r
2374 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2376 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2377 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2379 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2382 /* Add the amount of time the task has been running to the
\r
2383 accumulated time so far. The time the task started running was
\r
2384 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2385 protection here so count values are only valid until the timer
\r
2386 overflows. The guard against negative values is to protect
\r
2387 against suspect run time stat counter implementations - which
\r
2388 are provided by the application, not the kernel. */
\r
2389 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2391 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2395 mtCOVERAGE_TEST_MARKER();
\r
2397 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2399 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2401 /* Check for stack overflow, if configured. */
\r
2402 taskCHECK_FOR_STACK_OVERFLOW();
\r
2404 /* Select a new task to run using either the generic C or port
\r
2405 optimised asm code. */
\r
2406 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2407 traceTASK_SWITCHED_IN();
\r
2409 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2411 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2412 structure specific to this task. */
\r
2413 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2415 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2418 /*-----------------------------------------------------------*/
\r
2420 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2422 configASSERT( pxEventList );
\r
2424 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2425 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2427 /* Place the event list item of the TCB in the appropriate event list.
\r
2428 This is placed in the list in priority order so the highest priority task
\r
2429 is the first to be woken by the event. The queue that contains the event
\r
2430 list is locked, preventing simultaneous access from interrupts. */
\r
2431 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2433 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2435 /*-----------------------------------------------------------*/
\r
2437 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2439 configASSERT( pxEventList );
\r
2441 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2442 the event groups implementation. */
\r
2443 configASSERT( uxSchedulerSuspended != 0 );
\r
2445 /* Store the item value in the event list item. It is safe to access the
\r
2446 event list item here as interrupts won't access the event list item of a
\r
2447 task that is not in the Blocked state. */
\r
2448 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2450 /* Place the event list item of the TCB at the end of the appropriate event
\r
2451 list. It is safe to access the event list here because it is part of an
\r
2452 event group implementation - and interrupts don't access event groups
\r
2453 directly (instead they access them indirectly by pending function calls to
\r
2454 the task level). */
\r
2455 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2457 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2459 /*-----------------------------------------------------------*/
\r
2461 #if( configUSE_TIMERS == 1 )
\r
2463 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2465 configASSERT( pxEventList );
\r
2467 /* This function should not be called by application code hence the
\r
2468 'Restricted' in its name. It is not part of the public API. It is
\r
2469 designed for use by kernel code, and has special calling requirements -
\r
2470 it should be called with the scheduler suspended. */
\r
2473 /* Place the event list item of the TCB in the appropriate event list.
\r
2474 In this case it is assume that this is the only task that is going to
\r
2475 be waiting on this event list, so the faster vListInsertEnd() function
\r
2476 can be used in place of vListInsert. */
\r
2477 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2479 /* If the task should block indefinitely then set the block time to a
\r
2480 value that will be recognised as an indefinite delay inside the
\r
2481 prvAddCurrentTaskToDelayedList() function. */
\r
2482 if( xWaitIndefinitely == pdTRUE )
\r
2484 xTicksToWait = portMAX_DELAY;
\r
2487 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
2488 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
2491 #endif /* configUSE_TIMERS */
\r
2492 /*-----------------------------------------------------------*/
\r
2494 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2496 TCB_t *pxUnblockedTCB;
\r
2497 BaseType_t xReturn;
\r
2499 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2500 called from a critical section within an ISR. */
\r
2502 /* The event list is sorted in priority order, so the first in the list can
\r
2503 be removed as it is known to be the highest priority. Remove the TCB from
\r
2504 the delayed list, and add it to the ready list.
\r
2506 If an event is for a queue that is locked then this function will never
\r
2507 get called - the lock count on the queue will get modified instead. This
\r
2508 means exclusive access to the event list is guaranteed here.
\r
2510 This function assumes that a check has already been made to ensure that
\r
2511 pxEventList is not empty. */
\r
2512 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2513 configASSERT( pxUnblockedTCB );
\r
2514 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2516 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2518 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2519 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2523 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2524 pending until the scheduler is resumed. */
\r
2525 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2528 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2530 /* Return true if the task removed from the event list has a higher
\r
2531 priority than the calling task. This allows the calling task to know if
\r
2532 it should force a context switch now. */
\r
2535 /* Mark that a yield is pending in case the user is not using the
\r
2536 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2537 xYieldPending = pdTRUE;
\r
2541 xReturn = pdFALSE;
\r
2544 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2546 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
2547 might be set to the blocked task's time out time. If the task is
\r
2548 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
2549 normally left unchanged, because it is automatically reset to a new
\r
2550 value when the tick count equals xNextTaskUnblockTime. However if
\r
2551 tickless idling is used it might be more important to enter sleep mode
\r
2552 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
2553 ensure it is updated at the earliest possible time. */
\r
2554 prvResetNextTaskUnblockTime();
\r
2560 /*-----------------------------------------------------------*/
\r
2562 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2564 TCB_t *pxUnblockedTCB;
\r
2565 BaseType_t xReturn;
\r
2567 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2568 the event flags implementation. */
\r
2569 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2571 /* Store the new item value in the event list. */
\r
2572 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2574 /* Remove the event list form the event flag. Interrupts do not access
\r
2576 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2577 configASSERT( pxUnblockedTCB );
\r
2578 ( void ) uxListRemove( pxEventListItem );
\r
2580 /* Remove the task from the delayed list and add it to the ready list. The
\r
2581 scheduler is suspended so interrupts will not be accessing the ready
\r
2583 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2584 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2586 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2588 /* Return true if the task removed from the event list has
\r
2589 a higher priority than the calling task. This allows
\r
2590 the calling task to know if it should force a context
\r
2594 /* Mark that a yield is pending in case the user is not using the
\r
2595 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2596 xYieldPending = pdTRUE;
\r
2600 xReturn = pdFALSE;
\r
2605 /*-----------------------------------------------------------*/
\r
2607 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2609 configASSERT( pxTimeOut );
\r
2610 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2611 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2613 /*-----------------------------------------------------------*/
\r
2615 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2617 BaseType_t xReturn;
\r
2619 configASSERT( pxTimeOut );
\r
2620 configASSERT( pxTicksToWait );
\r
2622 taskENTER_CRITICAL();
\r
2624 /* Minor optimisation. The tick count cannot change in this block. */
\r
2625 const TickType_t xConstTickCount = xTickCount;
\r
2627 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2628 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified
\r
2629 is the maximum block time then the task should block indefinitely,
\r
2630 and therefore never time out. */
\r
2631 if( *pxTicksToWait == portMAX_DELAY )
\r
2633 xReturn = pdFALSE;
\r
2635 else /* We are not blocking indefinitely, perform the checks below. */
\r
2638 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2640 /* The tick count is greater than the time at which
\r
2641 vTaskSetTimeout() was called, but has also overflowed since
\r
2642 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
2643 around and gone past again. This passed since vTaskSetTimeout()
\r
2647 else if( ( ( TickType_t ) ( xConstTickCount - pxTimeOut->xTimeOnEntering ) ) < *pxTicksToWait )
\r
2649 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2650 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2651 vTaskSetTimeOutState( pxTimeOut );
\r
2652 xReturn = pdFALSE;
\r
2659 taskEXIT_CRITICAL();
\r
2663 /*-----------------------------------------------------------*/
\r
2665 void vTaskMissedYield( void )
\r
2667 xYieldPending = pdTRUE;
\r
2669 /*-----------------------------------------------------------*/
\r
2671 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2673 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2675 UBaseType_t uxReturn;
\r
2678 if( xTask != NULL )
\r
2680 pxTCB = ( TCB_t * ) xTask;
\r
2681 uxReturn = pxTCB->uxTaskNumber;
\r
2691 #endif /* configUSE_TRACE_FACILITY */
\r
2692 /*-----------------------------------------------------------*/
\r
2694 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2696 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
2700 if( xTask != NULL )
\r
2702 pxTCB = ( TCB_t * ) xTask;
\r
2703 pxTCB->uxTaskNumber = uxHandle;
\r
2707 #endif /* configUSE_TRACE_FACILITY */
\r
2710 * -----------------------------------------------------------
\r
2712 * ----------------------------------------------------------
\r
2714 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2715 * language extensions. The equivalent prototype for this function is:
\r
2717 * void prvIdleTask( void *pvParameters );
\r
2720 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2722 /* Stop warnings. */
\r
2723 ( void ) pvParameters;
\r
2725 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
2726 SCHEDULER IS STARTED. **/
\r
2730 /* See if any tasks have deleted themselves - if so then the idle task
\r
2731 is responsible for freeing the deleted task's TCB and stack. */
\r
2732 prvCheckTasksWaitingTermination();
\r
2734 #if ( configUSE_PREEMPTION == 0 )
\r
2736 /* If we are not using preemption we keep forcing a task switch to
\r
2737 see if any other task has become available. If we are using
\r
2738 preemption we don't need to do this as any task becoming available
\r
2739 will automatically get the processor anyway. */
\r
2742 #endif /* configUSE_PREEMPTION */
\r
2744 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2746 /* When using preemption tasks of equal priority will be
\r
2747 timesliced. If a task that is sharing the idle priority is ready
\r
2748 to run then the idle task should yield before the end of the
\r
2751 A critical region is not required here as we are just reading from
\r
2752 the list, and an occasional incorrect value will not matter. If
\r
2753 the ready list at the idle priority contains more than one task
\r
2754 then a task other than the idle task is ready to execute. */
\r
2755 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
2761 mtCOVERAGE_TEST_MARKER();
\r
2764 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2766 #if ( configUSE_IDLE_HOOK == 1 )
\r
2768 extern void vApplicationIdleHook( void );
\r
2770 /* Call the user defined function from within the idle task. This
\r
2771 allows the application designer to add background functionality
\r
2772 without the overhead of a separate task.
\r
2773 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2774 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2775 vApplicationIdleHook();
\r
2777 #endif /* configUSE_IDLE_HOOK */
\r
2779 /* This conditional compilation should use inequality to 0, not equality
\r
2780 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2781 user defined low power mode implementations require
\r
2782 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2783 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2785 TickType_t xExpectedIdleTime;
\r
2787 /* It is not desirable to suspend then resume the scheduler on
\r
2788 each iteration of the idle task. Therefore, a preliminary
\r
2789 test of the expected idle time is performed without the
\r
2790 scheduler suspended. The result here is not necessarily
\r
2792 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2794 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2796 vTaskSuspendAll();
\r
2798 /* Now the scheduler is suspended, the expected idle
\r
2799 time can be sampled again, and this time its value can
\r
2801 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2802 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2804 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2806 traceLOW_POWER_IDLE_BEGIN();
\r
2807 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2808 traceLOW_POWER_IDLE_END();
\r
2812 mtCOVERAGE_TEST_MARKER();
\r
2815 ( void ) xTaskResumeAll();
\r
2819 mtCOVERAGE_TEST_MARKER();
\r
2822 #endif /* configUSE_TICKLESS_IDLE */
\r
2825 /*-----------------------------------------------------------*/
\r
2827 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2829 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2831 /* The idle task exists in addition to the application tasks. */
\r
2832 const UBaseType_t uxNonApplicationTasks = 1;
\r
2833 eSleepModeStatus eReturn = eStandardSleep;
\r
2835 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2837 /* A task was made ready while the scheduler was suspended. */
\r
2838 eReturn = eAbortSleep;
\r
2840 else if( xYieldPending != pdFALSE )
\r
2842 /* A yield was pended while the scheduler was suspended. */
\r
2843 eReturn = eAbortSleep;
\r
2847 /* If all the tasks are in the suspended list (which might mean they
\r
2848 have an infinite block time rather than actually being suspended)
\r
2849 then it is safe to turn all clocks off and just wait for external
\r
2851 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2853 eReturn = eNoTasksWaitingTimeout;
\r
2857 mtCOVERAGE_TEST_MARKER();
\r
2864 #endif /* configUSE_TICKLESS_IDLE */
\r
2865 /*-----------------------------------------------------------*/
\r
2867 static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2871 /* Store the task name in the TCB. */
\r
2872 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2874 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2876 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2877 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2878 string is not accessible (extremely unlikely). */
\r
2879 if( pcName[ x ] == 0x00 )
\r
2885 mtCOVERAGE_TEST_MARKER();
\r
2889 /* Ensure the name string is terminated in the case that the string length
\r
2890 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2891 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
2893 /* This is used as an array index so must ensure it's not too large. First
\r
2894 remove the privilege bit if one is present. */
\r
2895 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
2897 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
2901 mtCOVERAGE_TEST_MARKER();
\r
2904 pxTCB->uxPriority = uxPriority;
\r
2905 #if ( configUSE_MUTEXES == 1 )
\r
2907 pxTCB->uxBasePriority = uxPriority;
\r
2908 pxTCB->uxMutexesHeld = 0;
\r
2910 #endif /* configUSE_MUTEXES */
\r
2912 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2913 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2915 /* Set the pxTCB as a link back from the ListItem_t. This is so we can get
\r
2916 back to the containing TCB from a generic item in a list. */
\r
2917 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2919 /* Event lists are always in priority order. */
\r
2920 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2921 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2923 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2925 pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
2927 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2929 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2931 pxTCB->pxTaskTag = NULL;
\r
2933 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2935 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2937 pxTCB->ulRunTimeCounter = 0UL;
\r
2939 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2941 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2943 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2945 #else /* portUSING_MPU_WRAPPERS */
\r
2947 ( void ) xRegions;
\r
2948 ( void ) usStackDepth;
\r
2950 #endif /* portUSING_MPU_WRAPPERS */
\r
2952 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2954 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
2956 pxTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
2961 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
2963 pxTCB->ulNotifiedValue = 0;
\r
2964 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
2968 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2970 /* Initialise this task's Newlib reent structure. */
\r
2971 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2975 /*-----------------------------------------------------------*/
\r
2977 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2979 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
2983 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
2985 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
2986 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
2990 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
2991 /*-----------------------------------------------------------*/
\r
2993 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2995 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
2997 void *pvReturn = NULL;
\r
3000 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3002 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3003 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3013 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3014 /*-----------------------------------------------------------*/
\r
3016 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3018 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3022 /* If null is passed in here then we are modifying the MPU settings of
\r
3023 the calling task. */
\r
3024 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3026 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3029 #endif /* portUSING_MPU_WRAPPERS */
\r
3030 /*-----------------------------------------------------------*/
\r
3032 static void prvInitialiseTaskLists( void )
\r
3034 UBaseType_t uxPriority;
\r
3036 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3038 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3041 vListInitialise( &xDelayedTaskList1 );
\r
3042 vListInitialise( &xDelayedTaskList2 );
\r
3043 vListInitialise( &xPendingReadyList );
\r
3045 #if ( INCLUDE_vTaskDelete == 1 )
\r
3047 vListInitialise( &xTasksWaitingTermination );
\r
3049 #endif /* INCLUDE_vTaskDelete */
\r
3051 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3053 vListInitialise( &xSuspendedTaskList );
\r
3055 #endif /* INCLUDE_vTaskSuspend */
\r
3057 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3059 pxDelayedTaskList = &xDelayedTaskList1;
\r
3060 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3062 /*-----------------------------------------------------------*/
\r
3064 static void prvCheckTasksWaitingTermination( void )
\r
3067 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3069 #if ( INCLUDE_vTaskDelete == 1 )
\r
3071 BaseType_t xListIsEmpty;
\r
3073 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
3074 too often in the idle task. */
\r
3075 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3077 vTaskSuspendAll();
\r
3079 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
3081 ( void ) xTaskResumeAll();
\r
3083 if( xListIsEmpty == pdFALSE )
\r
3087 taskENTER_CRITICAL();
\r
3089 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
3090 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
3091 --uxCurrentNumberOfTasks;
\r
3092 --uxDeletedTasksWaitingCleanUp;
\r
3094 taskEXIT_CRITICAL();
\r
3096 prvDeleteTCB( pxTCB );
\r
3100 mtCOVERAGE_TEST_MARKER();
\r
3104 #endif /* INCLUDE_vTaskDelete */
\r
3106 /*-----------------------------------------------------------*/
\r
3108 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer, TCB_t * const pxTaskBuffer )
\r
3112 #if( ( configASSERT_DEFINED == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
3114 /* Sanity check that the size of the structure used to declare a
\r
3115 variable of type StaticTask_t matches the size of the actual TCB_t
\r
3117 volatile size_t xSize = sizeof( StaticTask_t );
\r
3118 configASSERT( xSize == sizeof( TCB_t ) );
\r
3120 #endif /* configASSERT_DEFINED */
\r
3122 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
3123 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
3124 the TCB then the stack. */
\r
3125 #if( portSTACK_GROWTH > 0 )
\r
3127 /* Allocate space for the TCB. Where the memory comes from depends on
\r
3128 the implementation of the port malloc function. */
\r
3129 pxNewTCB = ( TCB_t * ) pvPortMallocAligned( sizeof( TCB_t ), pxTaskBuffer );
\r
3131 if( pxNewTCB != NULL )
\r
3133 /* Allocate space for the stack used by the task being created.
\r
3134 The base of the stack memory stored in the TCB so the task can
\r
3135 be deleted later if required. */
\r
3136 pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3138 if( pxNewTCB->pxStack == NULL )
\r
3140 /* Could not allocate the stack. Delete the allocated TCB - if
\r
3141 it was allocated dynamically. */
\r
3142 if( pxTaskBuffer == NULL )
\r
3144 vPortFree( pxNewTCB );
\r
3150 #else /* portSTACK_GROWTH */
\r
3152 StackType_t *pxStack;
\r
3154 /* Allocate space for the stack used by the task being created. */
\r
3155 pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3157 if( pxStack != NULL )
\r
3159 /* Allocate space for the TCB. */
\r
3160 pxNewTCB = ( TCB_t * ) pvPortMallocAligned( sizeof( TCB_t ), pxTaskBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some paths. */
\r
3162 if( pxNewTCB != NULL )
\r
3164 /* Store the stack location in the TCB. */
\r
3165 pxNewTCB->pxStack = pxStack;
\r
3169 /* The stack cannot be used as the TCB was not created. Free it
\r
3171 if( puxStackBuffer == NULL )
\r
3173 vPortFree( pxStack );
\r
3177 mtCOVERAGE_TEST_MARKER();
\r
3186 #endif /* portSTACK_GROWTH */
\r
3188 if( pxNewTCB != NULL )
\r
3190 /* Avoid dependency on memset() if it is not required. */
\r
3191 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3193 /* Just to help debugging. */
\r
3194 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
\r
3196 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
3198 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
3200 pxNewTCB->ucStaticAllocationFlags = 0;
\r
3202 if( puxStackBuffer != NULL )
\r
3204 /* The application provided its own stack - note the fact so no
\r
3205 attempt is made to delete the stack if the task is deleted. */
\r
3206 pxNewTCB->ucStaticAllocationFlags |= taskSTATICALLY_ALLOCATED_STACK;
\r
3210 mtCOVERAGE_TEST_MARKER();
\r
3213 if( pxTaskBuffer != NULL )
\r
3215 /* The application provided its own TCB. Note the fact so no
\r
3216 attempt is made to delete the TCB if the task is deleted. */
\r
3217 pxNewTCB->ucStaticAllocationFlags |= taskSTATICALLY_ALLOCATED_TCB;
\r
3221 mtCOVERAGE_TEST_MARKER();
\r
3224 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
3229 /*-----------------------------------------------------------*/
\r
3231 #if( configUSE_TRACE_FACILITY == 1 )
\r
3233 void vTaskGetTaskInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3237 /* xTask is NULL then get the state of the calling task. */
\r
3238 pxTCB = prvGetTCBFromHandle( xTask );
\r
3240 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3241 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3242 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3243 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3244 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3246 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3248 /* If the task is in the suspended list then there is a chance it is
\r
3249 actually just blocked indefinitely - so really it should be reported as
\r
3250 being in the Blocked state. */
\r
3251 if( pxTaskStatus->eCurrentState == eSuspended )
\r
3253 vTaskSuspendAll();
\r
3255 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3257 pxTaskStatus->eCurrentState = eBlocked;
\r
3263 #endif /* INCLUDE_vTaskSuspend */
\r
3265 #if ( configUSE_MUTEXES == 1 )
\r
3267 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3271 pxTaskStatus->uxBasePriority = 0;
\r
3275 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3277 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3281 pxTaskStatus->ulRunTimeCounter = 0;
\r
3285 /* Obtaining the task state is a little fiddly, so is only done if the value
\r
3286 of eState passed into this function is eInvalid - otherwise the state is
\r
3287 just set to whatever is passed in. */
\r
3288 if( eState != eInvalid )
\r
3290 pxTaskStatus->eCurrentState = eState;
\r
3294 pxTaskStatus->eCurrentState = eTaskGetState( xTask );
\r
3297 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3298 parameter is provided to allow it to be skipped. */
\r
3299 if( xGetFreeStackSpace != pdFALSE )
\r
3301 #if ( portSTACK_GROWTH > 0 )
\r
3303 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3307 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3313 pxTaskStatus->usStackHighWaterMark = 0;
\r
3317 #endif /* configUSE_TRACE_FACILITY */
\r
3318 /*-----------------------------------------------------------*/
\r
3320 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3322 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3324 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
3325 UBaseType_t uxTask = 0;
\r
3327 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3329 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3331 /* Populate an TaskStatus_t structure within the
\r
3332 pxTaskStatusArray array for each task that is referenced from
\r
3333 pxList. See the definition of TaskStatus_t in task.h for the
\r
3334 meaning of each TaskStatus_t structure member. */
\r
3337 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3338 vTaskGetTaskInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3340 } while( pxNextTCB != pxFirstTCB );
\r
3344 mtCOVERAGE_TEST_MARKER();
\r
3350 #endif /* configUSE_TRACE_FACILITY */
\r
3351 /*-----------------------------------------------------------*/
\r
3353 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3355 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3357 uint32_t ulCount = 0U;
\r
3359 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3361 pucStackByte -= portSTACK_GROWTH;
\r
3365 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3367 return ( uint16_t ) ulCount;
\r
3370 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3371 /*-----------------------------------------------------------*/
\r
3373 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3375 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3378 uint8_t *pucEndOfStack;
\r
3379 UBaseType_t uxReturn;
\r
3381 pxTCB = prvGetTCBFromHandle( xTask );
\r
3383 #if portSTACK_GROWTH < 0
\r
3385 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3389 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3393 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3398 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3399 /*-----------------------------------------------------------*/
\r
3401 #if ( INCLUDE_vTaskDelete == 1 )
\r
3403 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3405 /* This call is required specifically for the TriCore port. It must be
\r
3406 above the vPortFree() calls. The call is also used by ports/demos that
\r
3407 want to allocate and clean RAM statically. */
\r
3408 portCLEAN_UP_TCB( pxTCB );
\r
3410 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3411 to the task to free any memory allocated at the application level. */
\r
3412 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3414 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3416 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3418 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
3420 /* Only free the stack and TCB if they were allocated dynamically in
\r
3421 the first place. */
\r
3422 if( ( pxTCB->ucStaticAllocationFlags & taskSTATICALLY_ALLOCATED_STACK ) == ( uint8_t ) 0 )
\r
3424 vPortFreeAligned( pxTCB->pxStack );
\r
3428 mtCOVERAGE_TEST_MARKER();
\r
3431 if( ( pxTCB->ucStaticAllocationFlags & taskSTATICALLY_ALLOCATED_TCB ) == ( uint8_t ) 0 )
\r
3433 vPortFreeAligned( pxTCB );
\r
3437 mtCOVERAGE_TEST_MARKER();
\r
3442 vPortFreeAligned( pxTCB->pxStack );
\r
3443 vPortFree( pxTCB );
\r
3448 #endif /* INCLUDE_vTaskDelete */
\r
3449 /*-----------------------------------------------------------*/
\r
3451 static void prvResetNextTaskUnblockTime( void )
\r
3455 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3457 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3458 the maximum possible value so it is extremely unlikely that the
\r
3459 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3460 there is an item in the delayed list. */
\r
3461 xNextTaskUnblockTime = portMAX_DELAY;
\r
3465 /* The new current delayed list is not empty, get the value of
\r
3466 the item at the head of the delayed list. This is the time at
\r
3467 which the task at the head of the delayed list should be removed
\r
3468 from the Blocked state. */
\r
3469 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3470 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
\r
3473 /*-----------------------------------------------------------*/
\r
3475 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3477 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3479 TaskHandle_t xReturn;
\r
3481 /* A critical section is not required as this is not called from
\r
3482 an interrupt and the current TCB will always be the same for any
\r
3483 individual execution thread. */
\r
3484 xReturn = pxCurrentTCB;
\r
3489 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3490 /*-----------------------------------------------------------*/
\r
3492 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3494 BaseType_t xTaskGetSchedulerState( void )
\r
3496 BaseType_t xReturn;
\r
3498 if( xSchedulerRunning == pdFALSE )
\r
3500 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3504 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3506 xReturn = taskSCHEDULER_RUNNING;
\r
3510 xReturn = taskSCHEDULER_SUSPENDED;
\r
3517 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3518 /*-----------------------------------------------------------*/
\r
3520 #if ( configUSE_MUTEXES == 1 )
\r
3522 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3524 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3526 /* If the mutex was given back by an interrupt while the queue was
\r
3527 locked then the mutex holder might now be NULL. */
\r
3528 if( pxMutexHolder != NULL )
\r
3530 /* If the holder of the mutex has a priority below the priority of
\r
3531 the task attempting to obtain the mutex then it will temporarily
\r
3532 inherit the priority of the task attempting to obtain the mutex. */
\r
3533 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3535 /* Adjust the mutex holder state to account for its new
\r
3536 priority. Only reset the event list item value if the value is
\r
3537 not being used for anything else. */
\r
3538 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3540 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3544 mtCOVERAGE_TEST_MARKER();
\r
3547 /* If the task being modified is in the ready state it will need
\r
3548 to be moved into a new list. */
\r
3549 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
3551 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3553 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3557 mtCOVERAGE_TEST_MARKER();
\r
3560 /* Inherit the priority before being moved into the new list. */
\r
3561 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3562 prvAddTaskToReadyList( pxTCB );
\r
3566 /* Just inherit the priority. */
\r
3567 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3570 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3574 mtCOVERAGE_TEST_MARKER();
\r
3579 mtCOVERAGE_TEST_MARKER();
\r
3583 #endif /* configUSE_MUTEXES */
\r
3584 /*-----------------------------------------------------------*/
\r
3586 #if ( configUSE_MUTEXES == 1 )
\r
3588 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3590 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3591 BaseType_t xReturn = pdFALSE;
\r
3593 if( pxMutexHolder != NULL )
\r
3595 /* A task can only have an inherited priority if it holds the mutex.
\r
3596 If the mutex is held by a task then it cannot be given from an
\r
3597 interrupt, and if a mutex is given by the holding task then it must
\r
3598 be the running state task. */
\r
3599 configASSERT( pxTCB == pxCurrentTCB );
\r
3601 configASSERT( pxTCB->uxMutexesHeld );
\r
3602 ( pxTCB->uxMutexesHeld )--;
\r
3604 /* Has the holder of the mutex inherited the priority of another
\r
3606 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3608 /* Only disinherit if no other mutexes are held. */
\r
3609 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3611 /* A task can only have an inherited priority if it holds
\r
3612 the mutex. If the mutex is held by a task then it cannot be
\r
3613 given from an interrupt, and if a mutex is given by the
\r
3614 holding task then it must be the running state task. Remove
\r
3615 the holding task from the ready list. */
\r
3616 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3618 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3622 mtCOVERAGE_TEST_MARKER();
\r
3625 /* Disinherit the priority before adding the task into the
\r
3626 new ready list. */
\r
3627 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3628 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3630 /* Reset the event list item value. It cannot be in use for
\r
3631 any other purpose if this task is running, and it must be
\r
3632 running to give back the mutex. */
\r
3633 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3634 prvAddTaskToReadyList( pxTCB );
\r
3636 /* Return true to indicate that a context switch is required.
\r
3637 This is only actually required in the corner case whereby
\r
3638 multiple mutexes were held and the mutexes were given back
\r
3639 in an order different to that in which they were taken.
\r
3640 If a context switch did not occur when the first mutex was
\r
3641 returned, even if a task was waiting on it, then a context
\r
3642 switch should occur when the last mutex is returned whether
\r
3643 a task is waiting on it or not. */
\r
3648 mtCOVERAGE_TEST_MARKER();
\r
3653 mtCOVERAGE_TEST_MARKER();
\r
3658 mtCOVERAGE_TEST_MARKER();
\r
3664 #endif /* configUSE_MUTEXES */
\r
3665 /*-----------------------------------------------------------*/
\r
3667 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3669 void vTaskEnterCritical( void )
\r
3671 portDISABLE_INTERRUPTS();
\r
3673 if( xSchedulerRunning != pdFALSE )
\r
3675 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3677 /* This is not the interrupt safe version of the enter critical
\r
3678 function so assert() if it is being called from an interrupt
\r
3679 context. Only API functions that end in "FromISR" can be used in an
\r
3680 interrupt. Only assert if the critical nesting count is 1 to
\r
3681 protect against recursive calls if the assert function also uses a
\r
3682 critical section. */
\r
3683 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
3685 portASSERT_IF_IN_ISR();
\r
3690 mtCOVERAGE_TEST_MARKER();
\r
3694 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3695 /*-----------------------------------------------------------*/
\r
3697 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3699 void vTaskExitCritical( void )
\r
3701 if( xSchedulerRunning != pdFALSE )
\r
3703 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3705 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3707 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3709 portENABLE_INTERRUPTS();
\r
3713 mtCOVERAGE_TEST_MARKER();
\r
3718 mtCOVERAGE_TEST_MARKER();
\r
3723 mtCOVERAGE_TEST_MARKER();
\r
3727 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3728 /*-----------------------------------------------------------*/
\r
3730 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3732 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
3736 /* Start by copying the entire string. */
\r
3737 strcpy( pcBuffer, pcTaskName );
\r
3739 /* Pad the end of the string with spaces to ensure columns line up when
\r
3741 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
3743 pcBuffer[ x ] = ' ';
\r
3747 pcBuffer[ x ] = 0x00;
\r
3749 /* Return the new end of string. */
\r
3750 return &( pcBuffer[ x ] );
\r
3753 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
3754 /*-----------------------------------------------------------*/
\r
3756 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3758 void vTaskList( char * pcWriteBuffer )
\r
3760 TaskStatus_t *pxTaskStatusArray;
\r
3761 volatile UBaseType_t uxArraySize, x;
\r
3767 * This function is provided for convenience only, and is used by many
\r
3768 * of the demo applications. Do not consider it to be part of the
\r
3771 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3772 * uxTaskGetSystemState() output into a human readable table that
\r
3773 * displays task names, states and stack usage.
\r
3775 * vTaskList() has a dependency on the sprintf() C library function that
\r
3776 * might bloat the code size, use a lot of stack, and provide different
\r
3777 * results on different platforms. An alternative, tiny, third party,
\r
3778 * and limited functionality implementation of sprintf() is provided in
\r
3779 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3780 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3781 * snprintf() implementation!).
\r
3783 * It is recommended that production systems call uxTaskGetSystemState()
\r
3784 * directly to get access to raw stats data, rather than indirectly
\r
3785 * through a call to vTaskList().
\r
3789 /* Make sure the write buffer does not contain a string. */
\r
3790 *pcWriteBuffer = 0x00;
\r
3792 /* Take a snapshot of the number of tasks in case it changes while this
\r
3793 function is executing. */
\r
3794 uxArraySize = uxCurrentNumberOfTasks;
\r
3796 /* Allocate an array index for each task. */
\r
3797 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3799 if( pxTaskStatusArray != NULL )
\r
3801 /* Generate the (binary) data. */
\r
3802 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3804 /* Create a human readable table from the binary data. */
\r
3805 for( x = 0; x < uxArraySize; x++ )
\r
3807 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3809 case eReady: cStatus = tskREADY_CHAR;
\r
3812 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3815 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3818 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3821 default: /* Should not get here, but it is included
\r
3822 to prevent static checking errors. */
\r
3827 /* Write the task name to the string, padding with spaces so it
\r
3828 can be printed in tabular form more easily. */
\r
3829 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3831 /* Write the rest of the string. */
\r
3832 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
3833 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3836 /* Free the array again. */
\r
3837 vPortFree( pxTaskStatusArray );
\r
3841 mtCOVERAGE_TEST_MARKER();
\r
3845 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3846 /*----------------------------------------------------------*/
\r
3848 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3850 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
3852 TaskStatus_t *pxTaskStatusArray;
\r
3853 volatile UBaseType_t uxArraySize, x;
\r
3854 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
3856 #if( configUSE_TRACE_FACILITY != 1 )
\r
3858 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
3865 * This function is provided for convenience only, and is used by many
\r
3866 * of the demo applications. Do not consider it to be part of the
\r
3869 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3870 * of the uxTaskGetSystemState() output into a human readable table that
\r
3871 * displays the amount of time each task has spent in the Running state
\r
3872 * in both absolute and percentage terms.
\r
3874 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3875 * function that might bloat the code size, use a lot of stack, and
\r
3876 * provide different results on different platforms. An alternative,
\r
3877 * tiny, third party, and limited functionality implementation of
\r
3878 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3879 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3880 * a full snprintf() implementation!).
\r
3882 * It is recommended that production systems call uxTaskGetSystemState()
\r
3883 * directly to get access to raw stats data, rather than indirectly
\r
3884 * through a call to vTaskGetRunTimeStats().
\r
3887 /* Make sure the write buffer does not contain a string. */
\r
3888 *pcWriteBuffer = 0x00;
\r
3890 /* Take a snapshot of the number of tasks in case it changes while this
\r
3891 function is executing. */
\r
3892 uxArraySize = uxCurrentNumberOfTasks;
\r
3894 /* Allocate an array index for each task. */
\r
3895 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3897 if( pxTaskStatusArray != NULL )
\r
3899 /* Generate the (binary) data. */
\r
3900 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3902 /* For percentage calculations. */
\r
3903 ulTotalTime /= 100UL;
\r
3905 /* Avoid divide by zero errors. */
\r
3906 if( ulTotalTime > 0 )
\r
3908 /* Create a human readable table from the binary data. */
\r
3909 for( x = 0; x < uxArraySize; x++ )
\r
3911 /* What percentage of the total run time has the task used?
\r
3912 This will always be rounded down to the nearest integer.
\r
3913 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3914 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3916 /* Write the task name to the string, padding with
\r
3917 spaces so it can be printed in tabular form more
\r
3919 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3921 if( ulStatsAsPercentage > 0UL )
\r
3923 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3925 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3929 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3930 printf() library can be used. */
\r
3931 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3937 /* If the percentage is zero here then the task has
\r
3938 consumed less than 1% of the total run time. */
\r
3939 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3941 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3945 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3946 printf() library can be used. */
\r
3947 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3952 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3957 mtCOVERAGE_TEST_MARKER();
\r
3960 /* Free the array again. */
\r
3961 vPortFree( pxTaskStatusArray );
\r
3965 mtCOVERAGE_TEST_MARKER();
\r
3969 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3970 /*-----------------------------------------------------------*/
\r
3972 TickType_t uxTaskResetEventItemValue( void )
\r
3974 TickType_t uxReturn;
\r
3976 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3978 /* Reset the event list item to its normal value - so it can be used with
\r
3979 queues and semaphores. */
\r
3980 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3984 /*-----------------------------------------------------------*/
\r
3986 #if ( configUSE_MUTEXES == 1 )
\r
3988 void *pvTaskIncrementMutexHeldCount( void )
\r
3990 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
3991 then pxCurrentTCB will be NULL. */
\r
3992 if( pxCurrentTCB != NULL )
\r
3994 ( pxCurrentTCB->uxMutexesHeld )++;
\r
3997 return pxCurrentTCB;
\r
4000 #endif /* configUSE_MUTEXES */
\r
4001 /*-----------------------------------------------------------*/
\r
4003 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4005 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4007 uint32_t ulReturn;
\r
4009 taskENTER_CRITICAL();
\r
4011 /* Only block if the notification count is not already non-zero. */
\r
4012 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4014 /* Mark this task as waiting for a notification. */
\r
4015 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4017 if( xTicksToWait > ( TickType_t ) 0 )
\r
4019 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4020 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4022 /* All ports are written to allow a yield in a critical
\r
4023 section (some will yield immediately, others wait until the
\r
4024 critical section exits) - but it is not something that
\r
4025 application code should ever do. */
\r
4026 portYIELD_WITHIN_API();
\r
4030 mtCOVERAGE_TEST_MARKER();
\r
4035 mtCOVERAGE_TEST_MARKER();
\r
4038 taskEXIT_CRITICAL();
\r
4040 taskENTER_CRITICAL();
\r
4042 traceTASK_NOTIFY_TAKE();
\r
4043 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4045 if( ulReturn != 0UL )
\r
4047 if( xClearCountOnExit != pdFALSE )
\r
4049 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4053 ( pxCurrentTCB->ulNotifiedValue )--;
\r
4058 mtCOVERAGE_TEST_MARKER();
\r
4061 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4063 taskEXIT_CRITICAL();
\r
4068 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4069 /*-----------------------------------------------------------*/
\r
4071 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4073 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4075 BaseType_t xReturn;
\r
4077 taskENTER_CRITICAL();
\r
4079 /* Only block if a notification is not already pending. */
\r
4080 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4082 /* Clear bits in the task's notification value as bits may get
\r
4083 set by the notifying task or interrupt. This can be used to
\r
4084 clear the value to zero. */
\r
4085 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4087 /* Mark this task as waiting for a notification. */
\r
4088 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4090 if( xTicksToWait > ( TickType_t ) 0 )
\r
4092 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4093 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4095 /* All ports are written to allow a yield in a critical
\r
4096 section (some will yield immediately, others wait until the
\r
4097 critical section exits) - but it is not something that
\r
4098 application code should ever do. */
\r
4099 portYIELD_WITHIN_API();
\r
4103 mtCOVERAGE_TEST_MARKER();
\r
4108 mtCOVERAGE_TEST_MARKER();
\r
4111 taskEXIT_CRITICAL();
\r
4113 taskENTER_CRITICAL();
\r
4115 traceTASK_NOTIFY_WAIT();
\r
4117 if( pulNotificationValue != NULL )
\r
4119 /* Output the current notification value, which may or may not
\r
4121 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4124 /* If ucNotifyValue is set then either the task never entered the
\r
4125 blocked state (because a notification was already pending) or the
\r
4126 task unblocked because of a notification. Otherwise the task
\r
4127 unblocked because of a timeout. */
\r
4128 if( pxCurrentTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
4130 /* A notification was not received. */
\r
4131 xReturn = pdFALSE;
\r
4135 /* A notification was already pending or a notification was
\r
4136 received while the task was waiting. */
\r
4137 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4141 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4143 taskEXIT_CRITICAL();
\r
4148 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4149 /*-----------------------------------------------------------*/
\r
4151 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4153 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4156 BaseType_t xReturn = pdPASS;
\r
4157 uint8_t ucOriginalNotifyState;
\r
4159 configASSERT( xTaskToNotify );
\r
4160 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4162 taskENTER_CRITICAL();
\r
4164 if( pulPreviousNotificationValue != NULL )
\r
4166 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4169 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4171 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4176 pxTCB->ulNotifiedValue |= ulValue;
\r
4180 ( pxTCB->ulNotifiedValue )++;
\r
4183 case eSetValueWithOverwrite :
\r
4184 pxTCB->ulNotifiedValue = ulValue;
\r
4187 case eSetValueWithoutOverwrite :
\r
4188 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4190 pxTCB->ulNotifiedValue = ulValue;
\r
4194 /* The value could not be written to the task. */
\r
4200 /* The task is being notified without its notify value being
\r
4205 traceTASK_NOTIFY();
\r
4207 /* If the task is in the blocked state specifically to wait for a
\r
4208 notification then unblock it now. */
\r
4209 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4211 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4212 prvAddTaskToReadyList( pxTCB );
\r
4214 /* The task should not have been on an event list. */
\r
4215 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4217 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4219 /* If a task is blocked waiting for a notification then
\r
4220 xNextTaskUnblockTime might be set to the blocked task's time
\r
4221 out time. If the task is unblocked for a reason other than
\r
4222 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4223 because it will automatically get reset to a new value when
\r
4224 the tick count equals xNextTaskUnblockTime. However if
\r
4225 tickless idling is used it might be more important to enter
\r
4226 sleep mode at the earliest possible time - so reset
\r
4227 xNextTaskUnblockTime here to ensure it is updated at the
\r
4228 earliest possible time. */
\r
4229 prvResetNextTaskUnblockTime();
\r
4233 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4235 /* The notified task has a priority above the currently
\r
4236 executing task so a yield is required. */
\r
4237 taskYIELD_IF_USING_PREEMPTION();
\r
4241 mtCOVERAGE_TEST_MARKER();
\r
4246 mtCOVERAGE_TEST_MARKER();
\r
4249 taskEXIT_CRITICAL();
\r
4254 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4255 /*-----------------------------------------------------------*/
\r
4257 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4259 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4262 uint8_t ucOriginalNotifyState;
\r
4263 BaseType_t xReturn = pdPASS;
\r
4264 UBaseType_t uxSavedInterruptStatus;
\r
4266 configASSERT( xTaskToNotify );
\r
4268 /* RTOS ports that support interrupt nesting have the concept of a
\r
4269 maximum system call (or maximum API call) interrupt priority.
\r
4270 Interrupts that are above the maximum system call priority are keep
\r
4271 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4272 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4273 is defined in FreeRTOSConfig.h then
\r
4274 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4275 failure if a FreeRTOS API function is called from an interrupt that has
\r
4276 been assigned a priority above the configured maximum system call
\r
4277 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4278 from interrupts that have been assigned a priority at or (logically)
\r
4279 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4280 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4281 simple as possible. More information (albeit Cortex-M specific) is
\r
4282 provided on the following link:
\r
4283 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4284 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4286 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4288 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4290 if( pulPreviousNotificationValue != NULL )
\r
4292 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4295 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4296 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4301 pxTCB->ulNotifiedValue |= ulValue;
\r
4305 ( pxTCB->ulNotifiedValue )++;
\r
4308 case eSetValueWithOverwrite :
\r
4309 pxTCB->ulNotifiedValue = ulValue;
\r
4312 case eSetValueWithoutOverwrite :
\r
4313 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4315 pxTCB->ulNotifiedValue = ulValue;
\r
4319 /* The value could not be written to the task. */
\r
4325 /* The task is being notified without its notify value being
\r
4330 traceTASK_NOTIFY_FROM_ISR();
\r
4332 /* If the task is in the blocked state specifically to wait for a
\r
4333 notification then unblock it now. */
\r
4334 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4336 /* The task should not have been on an event list. */
\r
4337 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4339 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4341 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4342 prvAddTaskToReadyList( pxTCB );
\r
4346 /* The delayed and ready lists cannot be accessed, so hold
\r
4347 this task pending until the scheduler is resumed. */
\r
4348 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4351 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4353 /* The notified task has a priority above the currently
\r
4354 executing task so a yield is required. */
\r
4355 if( pxHigherPriorityTaskWoken != NULL )
\r
4357 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4361 /* Mark that a yield is pending in case the user is not
\r
4362 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4363 safe FreeRTOS function. */
\r
4364 xYieldPending = pdTRUE;
\r
4369 mtCOVERAGE_TEST_MARKER();
\r
4373 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4378 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4379 /*-----------------------------------------------------------*/
\r
4381 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4383 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4386 uint8_t ucOriginalNotifyState;
\r
4387 UBaseType_t uxSavedInterruptStatus;
\r
4389 configASSERT( xTaskToNotify );
\r
4391 /* RTOS ports that support interrupt nesting have the concept of a
\r
4392 maximum system call (or maximum API call) interrupt priority.
\r
4393 Interrupts that are above the maximum system call priority are keep
\r
4394 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4395 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4396 is defined in FreeRTOSConfig.h then
\r
4397 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4398 failure if a FreeRTOS API function is called from an interrupt that has
\r
4399 been assigned a priority above the configured maximum system call
\r
4400 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4401 from interrupts that have been assigned a priority at or (logically)
\r
4402 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4403 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4404 simple as possible. More information (albeit Cortex-M specific) is
\r
4405 provided on the following link:
\r
4406 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4407 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4409 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4411 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4413 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4414 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4416 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4418 ( pxTCB->ulNotifiedValue )++;
\r
4420 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4422 /* If the task is in the blocked state specifically to wait for a
\r
4423 notification then unblock it now. */
\r
4424 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4426 /* The task should not have been on an event list. */
\r
4427 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4429 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4431 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4432 prvAddTaskToReadyList( pxTCB );
\r
4436 /* The delayed and ready lists cannot be accessed, so hold
\r
4437 this task pending until the scheduler is resumed. */
\r
4438 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4441 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4443 /* The notified task has a priority above the currently
\r
4444 executing task so a yield is required. */
\r
4445 if( pxHigherPriorityTaskWoken != NULL )
\r
4447 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4451 /* Mark that a yield is pending in case the user is not
\r
4452 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
4453 safe FreeRTOS function. */
\r
4454 xYieldPending = pdTRUE;
\r
4459 mtCOVERAGE_TEST_MARKER();
\r
4463 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4466 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4468 /*-----------------------------------------------------------*/
\r
4470 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4472 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
4475 BaseType_t xReturn;
\r
4477 /* If null is passed in here then it is the calling task that is having
\r
4478 its notification state cleared. */
\r
4479 pxTCB = prvGetTCBFromHandle( xTask );
\r
4481 taskENTER_CRITICAL();
\r
4483 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
4485 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4493 taskEXIT_CRITICAL();
\r
4498 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4499 /*-----------------------------------------------------------*/
\r
4502 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, BaseType_t xCanBlockIndefinitely )
\r
4504 TickType_t xTimeToWake;
\r
4506 /* Remove the task from the ready list before adding it to the blocked list
\r
4507 as the same list item is used for both lists. */
\r
4508 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
4510 /* The current task must be in a ready list, so there is no need to
\r
4511 check, and the port reset macro can be called directly. */
\r
4512 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
4516 mtCOVERAGE_TEST_MARKER();
\r
4520 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4522 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
4524 /* Add the task to the suspended task list instead of a delayed task
\r
4525 list to ensure it is not woken by a timing event. It will block
\r
4527 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
4531 /* Calculate the time at which the task should be woken if the event
\r
4532 does not occur. This may overflow but this doesn't matter, the
\r
4533 kernel will manage it correctly. */
\r
4534 xTimeToWake = xTickCount + xTicksToWait;
\r
4536 /* The list item will be inserted in wake time order. */
\r
4537 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
4539 if( xTimeToWake < xTickCount )
\r
4541 /* Wake time has overflowed. Place this item in the overflow
\r
4543 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
4547 /* The wake time has not overflowed, so the current block list
\r
4549 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
4551 /* If the task entering the blocked state was placed at the
\r
4552 head of the list of blocked tasks then xNextTaskUnblockTime
\r
4553 needs to be updated too. */
\r
4554 if( xTimeToWake < xNextTaskUnblockTime )
\r
4556 xNextTaskUnblockTime = xTimeToWake;
\r
4560 mtCOVERAGE_TEST_MARKER();
\r
4565 #else /* INCLUDE_vTaskSuspend */
\r
4567 /* Calculate the time at which the task should be woken if the event
\r
4568 does not occur. This may overflow but this doesn't matter, the kernel
\r
4569 will manage it correctly. */
\r
4570 xTimeToWake = xTickCount + xTicksToWait;
\r
4572 /* The list item will be inserted in wake time order. */
\r
4573 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
4575 if( xTimeToWake < xTickCount )
\r
4577 /* Wake time has overflowed. Place this item in the overflow list. */
\r
4578 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
4582 /* The wake time has not overflowed, so the current block list is used. */
\r
4583 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
4585 /* If the task entering the blocked state was placed at the head of the
\r
4586 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
4588 if( xTimeToWake < xNextTaskUnblockTime )
\r
4590 xNextTaskUnblockTime = xTimeToWake;
\r
4594 mtCOVERAGE_TEST_MARKER();
\r
4598 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
4599 ( void ) xCanBlockIndefinitely;
\r
4601 #endif /* INCLUDE_vTaskSuspend */
\r
4605 #ifdef FREERTOS_MODULE_TEST
\r
4606 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob